optimizeRCIpoly
solves the polynomial programming approximation of the terminal region computation problem.
Contents
Syntax
Description
This function models and solves the polynomial programming approximation in [1, Eq. (19)] of the optimization problem in [1, Eq. (6)], which returns a robust control invariant set of a given nonlinear dynamical system with maximum volume.
Input Arguments
|
obj |
instance of class computeTermRegNonlinSysPolyApproach |
|
termReg |
initial guess for the terminal region (class: polyZonotope) |
|
approx_R |
parameterized approximation of the time-pointreachable set (see [1,; Eq. (17)]; (class: polyZonotope); |
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mapsParamReduce |
struct storing the parameterization of the lengths of the reducing generators in the optimization variables |
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paramAbsErr_coefficients |
struct storing the coefficients of the parameterized approximation of the abstraction error |
|
p0 |
initial guess for the controller parameters (double vector) |
Output Arguments
|
sol |
struct storing the solution of the polynomial program .p: controller parameters .delta_c: translation of the terminal region center .s: terminal region generator scaling factors .sCost: cost set generator scaling factors .sRed: reducing generator scaling factors .sAbsErr: abstraction error interpolation factors .exploitTR: scalar indicating the trust region exploitation .slack: slack variables of softened constraints |
|
fVal |
value of the nominal cost function (size of sol.costSet) |
See Also
References
[1] L. Schäfer and M. Althoff, "Computing Robust Control Invariant Sets of Nonlinear Systems Using Polynomial Controller Synthesis," American Control Conference, 2024, pp. 4162-4169.
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